Employ as in [1]}, [2]} the Quanser AERO (see Figure REF ), i.e., a half-quadrotor, manufactured by the company Quanser (see the link https://www.quanser.com/products/quanser-aero/).
Two motors driving the propellers, which might turn clockwise or not, are controlling the angular position \(y\)  (rad) of the arms.
